TY - GEN
T1 - The Free Path Planner Based on Windmill Decomposition
AU - Jan, Gene Eu
AU - Luo, Chaomin
AU - Lee, Ming Che
AU - Hsieh, Hui Ching
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this article, a new obstacle-Avoidance path planner is proposed based on the windmill decomposition to find the shortest path in the Euclidean plane with rectangle obstacles. Using the Dijkstra's shortest path algorithm in a connected graph, this study constructs a windmill decomposition of the free space (obstacle avoidance space), and uses their centroids to plan the shortest free path from the start point to the end point. The advantage of this research is that, compared with other traditional algorithms, the time complexity of this algorithm is O(n {log}\ n), and the free path for obstacle avoidance can be planned in a short time, where n is the number of obstacles.
AB - In this article, a new obstacle-Avoidance path planner is proposed based on the windmill decomposition to find the shortest path in the Euclidean plane with rectangle obstacles. Using the Dijkstra's shortest path algorithm in a connected graph, this study constructs a windmill decomposition of the free space (obstacle avoidance space), and uses their centroids to plan the shortest free path from the start point to the end point. The advantage of this research is that, compared with other traditional algorithms, the time complexity of this algorithm is O(n {log}\ n), and the free path for obstacle avoidance can be planned in a short time, where n is the number of obstacles.
KW - Dijkstra
KW - path planning
KW - shortest free path
KW - windmill decomposition
UR - http://www.scopus.com/inward/record.url?scp=85136168910&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85136168910&partnerID=8YFLogxK
U2 - 10.1109/AIRC56195.2022.9836984
DO - 10.1109/AIRC56195.2022.9836984
M3 - Conference contribution
AN - SCOPUS:85136168910
T3 - 2022 3rd International Conference on Artificial Intelligence, Robotics and Control, AIRC 2022
SP - 35
EP - 39
BT - 2022 3rd International Conference on Artificial Intelligence, Robotics and Control, AIRC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Artificial Intelligence, Robotics and Control, AIRC 2022
Y2 - 20 May 2022 through 22 May 2022
ER -